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LibrePilot/flight/pios/common/pios_deltatime.c
2014-02-06 19:34:34 +01:00

65 lines
2.0 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_DELTATIME time measurement Functions
* @brief PiOS Delay functionality
* @{
*
* @file pios_deltatime.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Settings functions header
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
void PIOS_DELTATIME_Init(PiOSDeltatimeConfig *config, float average, float min, float max, float alpha)
{
PIOS_Assert(config);
config->average = average;
config->min = min;
config->max = max;
config->alpha = alpha;
config->last = PIOS_DELAY_GetRaw();
};
float PIOS_DELTATIME_GetAverageSeconds(PiOSDeltatimeConfig *config)
{
PIOS_Assert(config);
float dT = PIOS_DELAY_DiffuS(config->last) * 1.0e-6f;
config->last = PIOS_DELAY_GetRaw();
if (dT < config->min) {
dT = config->min;
}
if (dT > config->max) {
dT = config->max;
}
config->average = config->average * (1.0f - config->alpha) + dT * config->alpha;
return config->average;
}
/**
* @}
* @}
*/